My dad remains to be controlling and invasive.
I couldn't report him because h...
I'm sorry, I don't understand what you mean by "I couldn't report him because he was there."
Your age doesn't have anything to do with the issue if you want to report abuse to a medical provider and that person is present. I'm sorry that there seems to be some power struggle and perhaps traumatic abuse. That's sad. You need to get away from abusive people, period, in order to improve your life in all ways.
Sometimes that is impossible to do all in one big step. For me, I did it in stages with a goal. It took a long time to gain my independence. That is normal for many with abusive parents and lack of support for independence.
I hope you can find ways to gain independence at levels you can handle and feel successful before moving on. Maybe going to the Dr. alone is that first step you can take, or asking the Dr. to speak alone with them even if he is in the room.
I don't know what you need to report, and it is not my business to know. You don't need to tell me.
Whatever it is, though, be careful about your assumptions about what the Dr. could really do. I am consistently surprised at how little support is offered by authority figures or gov't workers of any kind. It is usually up to the survivor to self-advocate, meaning, find ways to gain independence and self-supporting. aka, working full time, finding good doctors, asking for specific therapy or meds based on your own research, etc. It is a lot of work. But it's worth it.